Onboard display control device, onboard display device, display control method, and display control program

ABSTRACT

An onboard display device is installed in a vehicle configured to enable autonomous driving. The onboard display device includes an information acquisition section and a display control section. In a case in which the vehicle attempts to merge from a traveling lane into a merging destination lane during autonomous driving, the information acquisition section acquires information regarding a point at which the attempt will be aborted, before the vehicle arrives at the point. The display control section displays the information regarding the point that is acquired by the information acquisition section, before the arrival at the point. at a display portion that is provided within a vehicle cabin of the vehicle.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a continuation of U.S. application Ser. No.17/394,746 filed Aug. 5, 2021, which is based on and claims priorityunder 35 USC 119 from Japanese Patent Application No. 2020-146392 filedon Aug. 31, 2020. The contents of the above applications areincorporated herein by reference.

BACKGROUND Technical Field

The present disclosure relates to an onboard display control device, anonboard display device, a display control method and a display controlprogram.

Related Art

In the vehicle control device disclosed in Japanese Patent ApplicationLaid-Open (JP-A) No. 2020-091778, in a case in which it is judged thatan autonomous vehicle cannot merge while autonomous driving iscontinued, the driver of the own vehicle is given advance notice thathe/she must carry out manual operation in order to merge the own vehiclefrom the traveling lane into the lane to be merged into (mergingdestination lane). This warning is carried out by the outputting of animage onto a display or by voice output from a speaker.

SUMMARY

The above-described related art does not disclose how to concretely givewarning of the necessity of driver intervention into the drivingoperation, by output of an image onto a display or voice output from aspeaker.

In view of the above-described circumstances, an object of the presentdisclosure is to provide an onboard display control device, an onboarddisplay device, a display control method and a display control programin which, in a case in which merging by autonomous driving is attempted,it is easy for the vehicle occupant to understand the need to intervenein the driving operation.

An onboard display control device of a first aspect of the presentdisclosure is an onboard display control device that is installed in avehicle configured to enable autonomous driving, the device including:an information acquisition section that is configured to, in a case inwhich the vehicle attempts to merge from a traveling lane into a mergingdestination lane during autonomous driving, acquires informationregarding a point at which the attempt will be aborted, before thevehicle arrives at the point; and a display control section isconfigured to displays the information regarding the point that isacquired by the information acquisition section, before the arrival atthe point, at a display portion that is provided within a vehicle cabinof the vehicle.

In the first aspect, the onboard display control device that isinstalled in a vehicle configured to enable autonomous driving has theinformation acquisition section and the display control section. In acase in which the vehicle attempts to merge from a traveling lane into amerging destination lane during autonomous driving, the informationacquisition section acquire information regarding a point at which theattempt will be aborted, before the vehicle arrives at that point. Thedisplay control section displays the information regarding the pointthat is acquired by the information acquisition section, before thearrival at the point, at a display portion that is provided within thevehicle cabin of the vehicle. Due thereto, the occupant of the vehiclecan visually grasp up to when the attempt to merge in autonomous drivingwill continue. As a result, the vehicle occupant can easily understand,in advance, the necessity of intervening in the driving operation.

In an onboard display control device of a second aspect of the presentdisclosure, in the first aspect, the information acquisition section isconfigured to acquire information regarding the traveling lane, and, onthe basis of the information acquired by the information acquisitionsection, the display control section displays, at the display portion,an image in which an image of the traveling lane and an image of thepoint are combined.

In the second aspect, in a case in which the vehicle attempts to mergefrom a traveling lane into a merging destination lane during autonomousdriving, the information acquisition section acquires informationregarding the point at which the attempt will be aborted, andinformation regarding the traveling lane. On the basis of theinformation acquired by the information acquisition section, the displaycontrol section displays, at the display portion, an image in which animage of the traveling lane and an image of the point are combined. Duethereto, the occupant of the vehicle can more easily visually grasp upto when the attempt to merge in autonomous driving will continue.

In an onboard display control device of a third aspect of the presentdisclosure, in the second aspect, the display control section displays,at the display portion, an image of a fixed segment that is establishedin the traveling lane and that has the point as a starting point.

In the third aspect, in a case in which the vehicle attempts to mergefrom a traveling lane into a merging destination lane during autonomousdriving, an image, which combines an image of the traveling lane and animage of a fixed segment that is established in the traveling lane andthat has the point as a starting point at which the attempt will beaborted, is displayed at the display portion. Due thereto, the occupantof the vehicle can visually recognize this point easily as compared witha case in which, for example, only the point is displayed at the displayportion.

In an onboard display control device of a fourth aspect of the presentdisclosure, in the third aspect, the fixed segment includes a drivinghand-over request segment in which at least one of steering oracceleration of the vehicle is controlled by the vehicle, and in whichan occupant of the vehicle is urged to intervene in driving operation.

In the fourth aspect, in a case in which the vehicle attempts to mergefrom a traveling lane into a merging destination lane during autonomousdriving, an image of a fixed segment, which is established in thetraveling lane and that has the point as a starting point at which theattempt will be aborted, is displayed at the display portion. This fixedsegment includes a driving hand-over request segment in which at leastone of steering or acceleration of the vehicle is controlled by thevehicle, and in which an occupant of the vehicle is urged to intervenein the driving operation. Because this driving hand-over request segmentis displayed at the display portion in advance, for example, it is easyfor the occupant of the vehicle to make, in advance, preparations tointervene in the driving operation.

In an onboard display control device of a fifth aspect of the presentdisclosure, in the third or fourth aspect, the fixed segment includes abraking segment in which the vehicle is automatically stopped in a casein which an occupant of the vehicle does not intervene in drivingoperation.

In the fifth aspect, in a case in which the vehicle attempts to mergefrom a traveling lane into a merging destination lane during autonomousdriving, an image of a fixed segment, which is established in thetraveling lane and that has the point as a starting point at which theattempt will be aborted, is displayed at the display portion. This fixedsegment includes a braking segment in which the vehicle is automaticallystopped in a case in which an occupant of the vehicle does not intervenein the driving operation. Due thereto, in a case in which the occupantof the vehicle does not intervene in the driving operation, the point atwhich braking of the vehicle will start, and the point at whichautomatic stoppage will occur, and the like can be known in advance.

In an onboard display control device of a sixth aspect of the presentdisclosure, in any one of the third aspect through the fifth aspect, thedisplay control section displays the fixed segment as a belt-shapedimage at the display portion.

In the sixth aspect, the display control section displays, at thedisplay portion, an image in which an image of the traveling lane and abelt-shaped image are combined. The fixed segment that is shown as thisbelt-shaped image is a segment that has the point as a starting point atwhich the attempt to merge in autonomous driving will be aborted.Because the fixed segment is displayed as a belt-shaped image in thisway, it is easy for the occupant of the vehicle to visually recognizethe point as compared with a case in which, for example, the point isdisplayed at the display portion as a dot-shaped or a linear image.

In an onboard display control device of a seventh aspect of the presentdisclosure, in any one of the third aspect through the sixth aspect, thedisplay control section displays, at the display portion, an image ofthe fixed segment in forms that differ for plural stages in accordancewith a deferment time until the vehicle is stopped automatically in acase in which an occupant of the vehicle does not intervene in drivingoperation.

In the seventh aspect, the image of the fixed segment, which the displaycontrol section displays at the display portion, is displayed in formsthat differ for plural stages in accordance with a deferment time untilthe vehicle is stopped automatically in a case in which the occupant ofthe vehicle does not intervene in the driving operation. Due thereto,the occupant of the vehicle can easily recognize the deferment timeuntil automatic stoppage.

In an onboard display control device of an eighth aspect of the presentdisclosure, in any one of the third aspect through the seventh aspect,the display control section displays, at the display portion, an imageof the fixed segment in forms that differ for plural stages incorrespondence with a change in control of the autonomous driving thatis carried out in a case in which an occupant of the vehicle does notintervene in driving operation.

In the eighth aspect, the image of the fixed segment, which the displaycontrol section displays at the display portion, is displayed in formsthat differ for plural stages in correspondence with the change in thecontrol of the autonomous driving that is carried out in a case in whichthe occupant of the vehicle does not intervene in the driving operation.Due thereto, in a case in which the occupant of the vehicle does notintervene in the driving operation, the occupant of the vehicle caneasily recognize in advance that control of the autonomous driving willchange.

In an onboard display control device of a ninth aspect of the presentdisclosure, in any one of the first aspect through the eighth aspect, ina case in which the vehicle arrives at the point, the display controlsection displays, at the display portion, a driving hand-over requestimage for urging an occupant of the vehicle to intervene in drivingoperation.

In the ninth aspect, in a case in which the vehicle arrives at the pointat which the attempt to merge in autonomous driving is aborted, thedisplay control section displays, at the display portion, the drivinghand-over request image that is for urging an occupant of the vehicle tointervene in the driving operation. Due thereto, it is even easier forthe occupant of the vehicle to recognize the necessity of intervening inthe driving operation.

In an onboard display control device of a tenth aspect of the presentdisclosure, in any one of the first aspect through the ninth aspect, thedisplay portion includes a head-up display that displays an image so asto overlap a front view that an occupant of the vehicle sees through awindshield.

In the tenth aspect, in a case in which the vehicle attempts to merge inautonomous driving, information regarding the point at which the attemptwill be aborted can be displayed so as to overlap the front view thatthe occupant of the vehicle sees through the windshield. Due thereto,the occupant of the vehicle can recognize the information of this point,while viewing the front view through the windshield.

In an onboard display control device of an eleventh aspect of thepresent disclosure, in any one of the first aspect through the tenthaspect, the display portion includes a meter display that is provided atan instrument panel of the vehicle.

In the eleventh aspect, in a case in which the vehicle attempts to mergein autonomous driving, information regarding the point at which theattempt will be aborted is displayed on the meter display that isprovided at the instrument panel. Due thereto, the occupant of thevehicle can confirm the information regarding the point in the meterdisplay, even in a situation in which it is difficult to see the imagedisplayed on the head-up display due to the effects of sunlight or thelike for example.

In an onboard display control device of a twelfth aspect of the presentdisclosure, in any one of the first aspect through the eleventh aspect,the display control section displays the vehicle and a periphery thereofat the display portion as an image that models a state in which thevehicle and the periphery thereof are seen from an obliquely rear upperside of the vehicle.

In accordance with the twelfth aspect, the vehicle and the peripherythereof are displayed, at the display portion provided at the vehicle,as an image that models a state in which the vehicle and the peripherythereof are viewed from an obliquely rear upper side of the vehicle, andinformation regarding the point at which the attempt to merge duringautonomous driving will be aborted is displayed at the display portionprovided at the vehicle. As a result, the occupant of the vehicle can,while looking at an image of the own vehicle from a bird's eye view,confirm up to when the attempt to merge in autonomous driving willcontinue.

An onboard display device of a thirteenth aspect of the presentdisclosure is an onboard display device that is installed in a vehicleconfigured to enable autonomous driving, the device including: a displayportion that is provided within a vehicle cabin of the vehicle; and theonboard display control device of any one of the first aspect throughthe twelfth aspect.

In the thirteenth aspect, the onboard display device that is installedin a vehicle configured to enable autonomous driving has a displayportion that is provided within a vehicle cabin of the vehicle, and anonboard display control device. Because this onboard display controldevice is the device of any one of the first aspect through the twelfthaspect, the operation and effects that are described above are obtained.

A display control method of a fourteenth aspect of the presentdisclosure is a display control method that is executed by a processorthat is installed in a vehicle configured to enable autonomous driving,the method including: in a case in which the vehicle attempts to mergefrom a traveling lane into a merging destination lane during autonomousdriving, acquiring information regarding a point at which the attemptwill be aborted, before the vehicle arrives at the point; and displayingthe information regarding the point that has been acquired, before thearrival at the point, at a display portion that is provided within avehicle cabin of the vehicle.

In the fourteenth aspect, the display control method that is executed bya processor that is installed in a vehicle configured to enableautonomous driving has the acquiring step and the displaying step. Inthe acquiring step, in a case in which the vehicle attempts to mergefrom a traveling lane into a merging destination lane during autonomousdriving, information regarding a point at which the attempt will beaborted is acquired before the vehicle arrives at the point. In thedisplaying step, the information regarding the point that is acquired inthe acquiring step is displayed before the arrival at the point, at adisplay portion that is provided within the vehicle cabin of thevehicle. Due thereto, the occupant of the vehicle can visually grasp upto when the attempt to merge in autonomous driving will continue. As aresult, the vehicle occupant can easily understand in advance thenecessity of intervening in the driving operation.

A display control program of a fifteenth aspect of the presentdisclosure is a display control program that is executed by a processorthat is installed in a vehicle configured to enable autonomous driving,the program including: in a case in which the vehicle attempts to mergefrom a traveling lane into a merging destination lane during theautonomous driving, acquiring information regarding a point at which theattempt will be aborted, before the vehicle arrives at the point; anddisplaying the information regarding the point that has been acquired inthe acquiring step, before the arrival at the point, at a displayportion that is provided within a vehicle cabin of the vehicle.

In the fifteenth aspect, the display control program, which is executedby a processor that is installed in a vehicle configured to enableautonomous driving, has the acquiring step and the displaying step. Inthe acquiring step, in a case in which the vehicle attempts to mergefrom a traveling lane into a merging destination lane during autonomousdriving, information regarding a point at which the attempt will beaborted is acquired before the vehicle arrives at the point. In thedisplaying step, the information regarding the point that is acquired inthe acquiring step is displayed before the arrival at the point, at adisplay portion that is provided within the vehicle cabin of thevehicle. Due thereto, the occupant of the vehicle can visually grasp upto when the attempt to merge in autonomous driving will continue. As aresult, the vehicle occupant can easily understand in advance thenecessity of intervening in the driving operation.

As described above, in the onboard display control device, the onboarddisplay device, the display control method and the display controlprogram relating to the present disclosure, in a case in which mergingin autonomous driving is attempted, it is easy for a vehicle occupant tounderstand the need to intervene in the driving operation.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments of the present disclosure will be described indetail based on the following figures, wherein:

FIG. 1 is a perspective view showing a vehicle cabin front portion of avehicle, in which an onboard display device relating to a firstembodiment is installed, in a state of being seen from a vehicle rearside;

FIG. 2 is a block drawing showing some of the hardware structures of anonboard system that is structured to include the onboard display devicerelating to the first embodiment;

FIG. 3 is a block drawing showing some of the functional structures ofthe onboard display device relating to the first embodiment;

FIG. 4A is a drawing showing a usual image of a head-up display in thefirst embodiment;

FIG. 4B is a drawing showing a usual image of a meter display in thefirst embodiment;

FIG. 5A is a drawing showing an image for merging of the head-up displayof the first embodiment;

FIG. 5B is a drawing showing an image for merging of the meter displayof the first embodiment;

FIG. 6A is a drawing showing a driving hand-over request image of thehead-up display of the first embodiment;

FIG. 6B is a drawing showing a driving hand-over request image of themeter display of the first embodiment;

FIG. 7 is a schematic drawing showing an example of a merge region of aroad;

FIG. 8 is a schematic drawing that corresponds to a portion of FIG. 7and is for explaining a method of setting a driving hand-over requestsegment and a braking segment;

FIG. 9 is a flowchart showing an example of the flow of display controlprocessing in the first embodiment;

FIG. 10A is a drawing showing an image for merging of the head-updisplay of a second embodiment;

FIG. 10B is a drawing showing an image for merging of the meter displayof the second embodiment;

FIG. 11A is a drawing showing an image for merging of the head-updisplay of a third embodiment; and

FIG. 11B is a drawing showing an image for merging of the meter displayof the third embodiment.

DETAILED DESCRIPTION First Embodiment

An onboard display device 10 relating to a first embodiment of thepresent disclosure is described hereinafter with reference to FIG. 1through FIG. 9 . This onboard display device 10 is installed in avehicle 12 that is shown in FIG. 1 . The vehicle 12 is structured so asto be able to switch between autonomous driving and manual driving.Hereinafter, the vehicle 12 will be called the “own vehicle 12”.

(Structure of Own Vehicle)

As shown in FIG. 1 , an instrument panel 14 is provided at the frontportion of the vehicle cabin interior of the own vehicle 12. Theinstrument panel 14 extends in the vehicle transverse direction, and asteering wheel 16 is provided at the vehicle right side of theinstrument panel 14. Namely, in the present embodiment, as an example,the own vehicle 12 is a right-hand-drive vehicle in which the steeringwheel 16 is provided at the right side, and an unillustrated driver'sseat is disposed at the right side within the vehicle cabin.

The instrument panel 14 is disposed at the vehicle lower side of awindshield glass 18. The windshield glass 18 is inclined so as to slopedownward toward the vehicle front side, and divides the vehicle cabininterior and the vehicle cabin exterior. This windshield glass 18corresponds to the “windshield” in the present disclosure.

The vehicle right side end portion of the windshield glass 18 is fixedto a front pillar 20 that is at the vehicle right side. The front pillar20 extends in the vehicle vertical direction, and the windshield glass18 is fixed to the vehicle transverse direction inner side end portionof the front pillar 20. Further, a front side glass 22 is disposed atthe vehicle rear side of the front pillar 20. Note that the vehicle leftside end portion of the windshield glass 18 is fixed to an unillustratedfront pillar that is at the vehicle left side.

A meter display 24 that is the first display portion is provided at theupper portion of the instrument panel 14 at the vehicle front side ofthe driver's seat. The meter display 24 is provided at a position thatis within the visual field in the state in which the sightline of thevehicle occupant who is in the driver's seat of the own vehicle 12(hereinafter, simply called “occupant of the own vehicle 12”) facestoward the vehicle front side.

Further, a head-up display (refer to FIG. 2 ; not shown in FIG. 1 ) 26that is the second display portion is provided at the upper portion ofthe instrument panel 14 at the vehicle front side of the driver's seat.This head-up display (called “HUD” hereinafter) 26 is structured suchthat an image can be projected onto a display region 26A that is set atthe lower portion of the windshield glass 18 at the vehicle front sideof the driver's seat. The HUD 26 can display an image so as to besuperposed on the front view that the occupant of the own vehicle 12sees through the windshield glass 18.

(Structure of Onboard System)

The structure of an onboard system 30 that is installed in theabove-described own vehicle 12 is shown in a block drawing in FIG. 2 .The onboard system 30 has a communication bus 32. A peripheral situationacquiring device group 34, a vehicle state detecting sensor group 46, anautonomous driving ECU (Electronic Control Unit) 58, and a displaycontrol ECU 70 are respectively connected to the communication bus 32.The display control ECU 70, together with the meter display 24 and theHUD 26, structure the onboard display device 10. Note that FIG. 2 showsonly a portion of the onboard system 30.

The peripheral situation acquiring device group 34 includes a GPS(Global Positioning System) device 36, an onboard communicator 38, anavigation system 40, a radar device 42, a camera 44 and the like, asdevices that acquire information expressing what type of situation theperipheral environment of the own vehicle 12 is.

The GPS device 36 receives GPS signals from plural GPS satellites, andmeasures the position of the own vehicle 12. The accuracy of measurementof the GPS device 36 increases as the number of GPS signals that can bereceived increases. The onboard communicator 38 is a communicationdevice that carries out at least one of vehicle-to-vehicle communicationwith other vehicles and road-to-vehicle communication with roadsidedevices. The navigation system 40 includes a map information storingsection 40A that stores map information. On the basis of the positioninformation obtained from the GPS device 36 and the map information thatis stored in the map information storing section 40A, the navigationsystem 40 carries out processings such as displaying the position of theown vehicle 12 on a map, and guiding the own vehicle 12 along the routeto the destination.

The radar device 42 includes plural radar devices that have respectivelydifferent detection ranges, and detects peripheral objects, such aspedestrians and other vehicles and the like that exist at the peripheryof the own vehicle 12, as point group information, and acquires therelative positions and the relative speeds of the own vehicle 12 and thedetected peripheral objects. The radar device 42 incorporates therein aprocessing device that processes the results of detecting peripheralobjects. On the basis of changes in the relative positions and therelative speeds of the individual peripheral objects that are includedin the detection results of the most recent several times, and the like,this processing device excludes, from objects of monitoring, noise,roadside objects such guardrails and the like, and the like, and tracksspecific objects such as pedestrians, other vehicles and the like asobjects of monitoring. Then, the radar device 42 outputs informationsuch as the relative positions and the relative speeds with respect tothe individual objects of monitoring, and the like. The camera 44captures images of the periphery of the own vehicle 12 by pluralcameras, and outputs the captured images.

The vehicle state detecting sensor group 46 includes, as plural sensorsthat acquire the state of the own vehicle 12, a vehicle speed sensor 48that detects the vehicle speed of the own vehicle 12, an accelerationsensor 50 that detects the acceleration that is applied to the ownvehicle 12, a steering sensor 52 that detects the steering angle of theown vehicle 12, an accelerator sensor 54 that detects the amount ofoperation of the accelerator pedal of the own vehicle 12, and a brakesensor 56 that detects the amount of operation of the brake pedal of theown vehicle 12.

A throttle ACT 60 that changes the throttle opening of the own vehicle12, and a brake ACT 62 that changes the braking force that the brakingdevice of the own vehicle 12 generates, are connected to the autonomousdriving ECU 58. Further, a steering ACT 64 that changes the amount ofsteering by the steering device of the own vehicle 12 is connected tothe autonomous driving ECU 58.

The autonomous driving ECU 58 includes a CPU (Central Processing Unit),memories such as a RAM (Random Access Memory), a ROM (Read Only Memory)and the like, a non-volatile storage such as an HDD (Hard Disk Drive) oran SSD (Solid State Drive) or the like, and a communication I/F (InterFace). Due to the CPU executing an autonomous driving program, in a casein which an autonomous driving mode is selected, the autonomous drivingECU 58 carries out autonomous driving processing that causes the ownvehicle 12 to travel autonomously without being accompanied by drivingoperation of the occupant of the own vehicle 12. The autonomous drivingprocessing is processing that, on the basis of information obtained fromthe peripheral situation acquiring device group 34 and the vehicle statedetecting sensor group 46, judges the situations of the own vehicle 12and the periphery thereof, and controls the throttle ACT 60, the brakeACT 62 and the steering ACT 64.

In the present embodiment, the level of the autonomous driving that theautonomous driving ECU 58 carries out is a level 2 or a level 3 forexample. In level 2 and level 3 autonomous driving, for example, incases of deviating from a controllable range, or in advanceconsideration of operations that are improper due to mis-detection, lackof detection, or malfunctioning of the sensors, or the like, the drivermonitors the autonomous driving by the autonomous driving ECU 58, andintervention of the driver is requested as needed. Note that the levelof autonomous driving that the autonomous driving ECU 58 carries out maybe a level 4 or a level 5. In level 4 or level 5 autonomous driving,intervention by the driver is unnecessary.

Further, in the present embodiment, the autonomous driving that theautonomous driving ECU 58 carries out includes, for example, constantspeed traveling at which the own vehicle 12 is made to travel in thesame traveling lane at a constant speed, traveling while following inwhich the own vehicle 12 is made to follow another vehicle that is theclosest to the own vehicle 12 and that exists in the same traveling lanewithin a predetermined distance (e.g., within 100 m) in front of the ownvehicle 12, lane changing in which the own vehicle 12 is made to changelanes from the lane in which the own vehicle 12 is currently traveling(the own lane) to an adjacent lane, traveling while branching-off inwhich, at a branch in the road, the own vehicle 12 is made to branch-offfrom the traveling lane into the lane that branches-off, traveling whilemerging in which, at the merge region of a road, the own vehicle 12 ismade to merge from the traveling lane into the lane to be merged into(merging destination lane), and the like.

In a case in which the above-described traveling while merging is to becarried out, the autonomous driving ECU 58 judges whether or not mergingis possible with the autonomous driving being continued, on the basis ofinformation such as the road shape of the traveling lane, the situationsof other vehicles that are in merging destination lane, and the likethat are acquired by the peripheral situation acquiring device group 34.In this case, for example, the autonomous driving ECU 58 acquiresinformation such as the inter-vehicle distance between other vehiclesthat exist in the merging destination lane, the relative speeds betweenthe own vehicle 12 and the other vehicles that exist in the mergingdestination lane, the final point of the traveling lane that the ownvehicle 12 is traveling in, and the like, and carries out theaforementioned judgment by combining these information. As a result, ina case in which it is judged that the own vehicle 12 cannot merge withthe autonomous driving being continued, the autonomous driving ECU 58,by using the onboard display device 10, requests that the occupant ofthe own vehicle 12 intervene in the driving operation. Due to thisrequest, when the occupant of the own vehicle 12 operates at least anyof the steering wheel, the accelerator pedal and the brake pedal of theown vehicle 12, that operation is detected by at least any of thesteering sensor 52, the accelerator sensor 54 and the brake sensor 56.Due thereto, the autonomous driving ECU 58 carries out switching fromthe autonomous driving mode to the manual driving mode. The structure ofthe onboard display device 10 is described in detail hereinafter.

(Structure of Onboard Display Device)

The onboard display device 10 is structured by the aforementioned meterdisplay 24 and HUD 26, and the display control ECU 70. The displaycontrol ECU 70 corresponds to the “onboard display control device” inthe present disclosure. The display control ECU 70 includes a CPU(Central Processing Unit: processor) 72, a memory 74 such as a ROM (ReadOnly Memory) and a RAM (Random Access Memory) and the like, anon-volatile storage 76 such as an HDD (Hard Disk Drive) or an SSD(Solid State Drive) or the like, and a communication l/F (Inter Face)78. The CPU 72, the memory 74, the storage 76 and the communication I/F78 are connected so as to be able to communicate with one another via aninternal bus 80. A display control program 82 is stored in the storage76. This display control program 82 is a program for executing thedisplay control method relating to the present disclosure. At thedisplay control ECU 70, display control processing that is describedlater is carried out by the display control program 82 being read-outfrom the storage 76 and expanded in the memory 74, and the displaycontrol program 82 that has been expanded in the memory 74 beingexecuted by the CPU 72. The HUD 26 and the meter display 24 areelectrically connected to the display control ECU 70.

The display control ECU 70 realizes various functions by using theabove-described hardware resources. Some of the functional structuresthat are realized by the display control ECU 70 are shown in a blockdrawing in FIG. 3 . As shown in FIG. 3 , the display control ECU 70includes, as the functional structures thereof, an informationacquisition section 84 and a display control section 86. Thesefunctional structures are realized by the CPU 72 reading-out andexecuting the display control program 82 that is stored in the storage76.

The information acquisition section 84 acquires, from the autonomousdriving ECU 58, information of the lane and information of peripheralobjects and the like that are recognized by the autonomous driving ECU58. The information of the lane includes information regarding thetraveling lane that is the lane in which the own vehicle 12 is currentlytraveling (information such as whether the lane is straight or curves orthe like), information relating to the adjacent lanes that are adjacentat the left and right of the own lane (the absence/presence of adjacentlanes, and the like), information of a branching-off lane thatbranches-off from the traveling lane, information of a mergingdestination lane that the traveling lane merges into, and the like. In acase in which the own vehicle 12 attempts to merge from the travelinglane into a merging destination lane during autonomous driving, thisinformation that the information acquisition section 84 acquiresincludes information of a first point (refer to P1 shown in FIG. 7 andFIG. 8 ) that is the point at which the attempt is to be aborted. Theinformation acquisition section 84 acquires information of the firstpoint before the own vehicle 12 arrives at the first point.

On the basis of the information acquired by the information acquisitionsection 84, the display control section 86 controls the display of theHUD 26 and the meter display 24. As an example, the display controlsection 86 can make the HUD 26 and the meter display 24 display usualimages that are shown in FIG. 4A and FIG. 4B, images for merging thatare shown in FIG. 5A and FIG. 5B, and driving hand-over request imagesthat are shown in FIG. 6A and FIG. 6B. Note that, in the examples thatare shown in FIG. 4A through FIG. 6B, the current speed of the ownvehicle 12 and the set speed of the cruise control are displayed in thelower portion of the display region 26A of the HUD 26 and in the upperportion of the meter display 24. Further, in the example shown in FIG.4B, planned operations M1 through M3 of the autonomous driving aredisplayed in the right side portion of the meter display 24.

In FIG. 4A, a first-person one-lane display image G1, which is anexample of a usual image, is displayed on the HUD 26. This first-personone-lane display image G1 is an image that models the front view thatthe occupant of the own vehicle 12 sees through the windshield glass 18.The first-person one-lane display image G1 is displayed in cases inwhich, for example, the autonomous driving ECU 58 causes the own vehicle12 to carry out constant speed traveling or traveling while following.An image RV1 of the traveling lane in which the own vehicle 12 iscurrently traveling, images LV of the borderlines of the traveling lane,an image V2 of a peripheral object that exists in front of the ownvehicle 12 (another vehicle in the example shown in FIG. 4A) areincluded as objects of display in the first-person one-lane displayimage G1. Images of adjacent lanes that are adjacent at the left and theright of the traveling lane are excluded from objects of display in thisfirst-person one-lane display image G1. The first-person one-lanedisplay image G1 is an image that minimizes difficulty by, on the onehand, displaying the image RV1 of the traveling lane of the own vehicle12 as large as possible, and, on the other hand, omitting display ofinformation that has little importance to the vehicle occupantunderstanding the state of the autonomous driving.

In FIG. 4B, a third-person multiple lane display image G2 that is anexample of a usual image is displayed on the meter display 24. Thisthird-person multiple lane display image G2 is an image in which the ownvehicle 12 and the periphery thereof are shown in a state of being seenfrom an obliquely rear upper side (a bird's eye view) of the own vehicle12. This third-person multiple lane display image G2 is displayed incases in which, for example, the autonomous driving ECU 58 causes theown vehicle 12 to carry out constant speed traveling or traveling whilefollowing. Images RV2, RV3 of the adjacent lanes that are adjacent atthe left and right of the traveling lane are included as objects ofdisplay in the third-person multiple lane display image G2. As anexample, a maximum of three lanes can be displayed in the third-personmultiple lane display image G2. However, in order to make it easy tounderstand the transitional state that accompanies branching-off ormerging, or the like, the number of lanes that are displayed is notlimited to a maximum of three lanes, and the number of lanes that aredisplayed is changed appropriately. The image RV1 of the traveling lane,the images RV2, RV3 of the adjacent lanes, the images LV of theborderlines of these traveling lanes, the image V2 of a peripheralobject that exists in the traveling lane in front of the own vehicle 12(another vehicle in the example shown in FIG. 4B), and an image V3 of aperipheral object that exists in an adjacent lane (another vehicle inthe example shown in FIG. 4B) are included as objects of display in thethird-person multiple lane display image G2.

In FIG. 5A, a third-person merge region display image G3 that is anexample of an image for merging is displayed on the HUD 26. Thisthird-person merge region display image G3 is an image in which the ownvehicle 12 and the periphery thereof are shown in a state of being seenfrom an obliquely rear upper side (a bird's eye view) of the own vehicle12. The third-person merge region display image G3 is displayed in casesin which the autonomous driving ECU 58 causes the own vehicle 12 totravel while merging. As an example, an image RV4 of the traveling lanein which the own vehicle 12 is traveling (the merge lane), an image RV5of the lane that the own vehicle 12 will merge into, and an image RV6 ofthe adjacent lane that is adjacent to the merging destination lane, areincluded as objects of display in the third-person merge region displayimage G3. Note that, although not illustrated in FIG. 5A, images of theother vehicles that exist in the traveling lane and in the mergingdestination lane also are included as objects of display in thethird-person merge region display image G3.

In FIG. 5B, a third-person merge region display image G4 that is anexample of an image for merging is displayed on the meter display 24.This third-person merge region display image G4 is basically similar tothe third-person merge region display image G3 that is displayed on theHUD 26, and is displayed in cases in which the autonomous driving ECU 58causes the own vehicle 12 to travel while merging.

In FIG. 6A, a hands-on image G5 that is an example of a drivinghand-over request image is displayed on the HUD 26. An image showing astate in which the steering wheel is being grasped by both hands, and animage of words such as “take over driving” and “autonomous driving isending”, are included in the hands-on image G5. This hands-on image G5is an image that urges the occupant of the own vehicle 12 to intervenein the driving operation, and is displayed, for example, in cases inwhich the autonomous driving ECU 58 aborts the attempt to merge inautonomous driving.

In FIG. 6B, a hands-on image G6 that is an example of a drivinghand-over request image is displayed on the meter display 24. Thehands-on image G6 is basically similar to the hands-on image G5 that isdisplayed on the HUD 26, and is displayed, for example, in cases inwhich the autonomous driving ECU 58 aborts the attempt to merge inautonomous driving.

Here, in the onboard display device 10 of the present exemplaryembodiment, at a merge region of a road shown in FIG. 7 and FIG. 8 forexample, in a case in which the own vehicle 12 attempts to merge fromtraveling lane R4 into merging destination lane R5 during autonomousdriving, information of the first point P1 at which the attempt will beaborted is acquired by the information acquisition section 84. Notethat, in FIG. 7 and FIG. 8 , L is the border between the traveling laneR4 and the traveling lane R5.

The display control section 86 displays the information of the firstpoint P1 that was acquired by the information acquisition section 84, onthe HUD 26 and the meter display 24 before the own vehicle 12 arrives atthe first point P1. Specifically, as shown in FIG. 5A and FIG. 5B, thedisplay control section 86 displays the third-person merge regiondisplay images G3, G4 on the HUD 26 and the meter display 24. The imageRV4 of the traveling lane R4, the image RV5 of the merging destinationlane R5, the image RV6 of adjacent lane R6 that is adjacent to themerging destination lane R5, and the images LV of the borderlines L ofthe respective lanes R4, R5, R6 are displayed in these third-personmerge region display images G3, G4. Moreover, the display controlsection 86 combines image SV, which is of a fixed segment S (see FIG. 7and FIG. 8 ) that has the first point P1 as a starting point and that isestablished in the traveling lane R4, with the third-person merge regiondisplay images G3, G4, and displays the combined image.

In the example shown in FIG. 5A and FIG. 5B, the aforementioned fixedsegment S is displayed, as the image SV that is belt-shaped, on the HUD26 and the meter display 24. In the present embodiment, this fixedsegment S is structured by driving hand-over request segment S1 andbraking segment S2 that are shown in FIG. 7 and FIG. 8 . The drivinghand-over request segment S1 is a segment in which at least either ofsteering and acceleration of the own vehicle 12 is controlled by theautonomous driving ECU 58, and the occupant of the own vehicle 12 isurged to intervene in the driving operation. This driving hand-overrequest segment S1 extends from its starting point that is the firstpoint P1 toward a final point P3 side of the image RV4 of the travelinglane R4. The final point of the driving hand-over request segment S1 issecond point P2 that is the starting point of the braking segment S2.The braking segment S2 is a segment in which, in a case in which theoccupant of the own vehicle 12 does not intervene in the drivingoperation, the autonomous driving ECU 58 causes the own vehicle 12 tobrake in order to automatically stop the own vehicle 12. This brakingsegment S2 extends from its starting point that is the second point P2to the final point P3 of the image RV4 of the traveling lane R4.

The position information of the final point P3 of the traveling lane RV4is stored in the map information storing section 40A. Central pointsequence CPS (see FIG. 8 ) of the traveling lane RV4 is stored in themap information storing section 40A. The above-described first point P1,second point P2 and final point P3 are set on this central pointsequence CPS. The autonomous driving ECU 58 sets the driving hand-overrequest segment S1 and the braking segment S2, which are determined bythe first point P1, the second point P2 and the final point P3, on thebasis of the position information of the final point P3. Specifically,for example, the driving hand-over request segment S1 and the brakingsegment S2 are established as segments that the subject vehicle 12 willpass through in a time period of several seconds (e.g., a four-secondtime period) at the current vehicle speed, respectively.

The display control section 86 displays the driving hand-over requestsegment S1 and the braking segment S2, which are set as described above,as images SV1, SV2 of different forms (here, different colors) on theHUD 26 and the meter display 24. In the present embodiment, the drivinghand-over request segment S1 is displayed as the image SV1 that isyellow and belt-shaped, and the braking segment S2 is displayed as theimage SV2 that is orange and belt-shaped, on the HUD 26 and the meterdisplay 24 respectively. Note that, in FIG. 5A and FIG. 5B, dots areapplied instead of colors to the images SV1, SV2.

Namely, in the present embodiment, the image SV of the fixed segment Swhose starting point is the first point P1 is displayed on the HUD 26and the meter display 24 in forms (colors) that differ in two stagesthat are the image SV1 of the driving hand-over request segment S1 andthe image SV2 of the braking segment S2. The respective segments S1, S2(the respective images SV1, SV2) correspond to the deferment time untilthe own vehicle 12 is automatically stopped (emergency-stopped) in acase in which the occupant of the own vehicle 12 does not intervene inthe driving operation.

Further, the respective segments S1, S2 correspond to the change in thecontrol of the autonomous driving that is carried out in a case in whichthe occupant of the own vehicle 12 does not intervene in the drivingoperation. Concretely, in the driving hand-over request segment S1, theautonomous driving ECU 58 requests the occupant of the own vehicle 12 tointervene in the driving operation, by using the onboard display device10. In this case, when the display control section 86 senses, on thebasis of information from the autonomous driving ECU 58, that the ownvehicle 12 has arrived at the first point P1, the display controlsection 86 displays the hands-on images G5, G6 that are shown in FIG. 6Aand FIG. 6B on the HUD 26 and the meter display 24. On the other hand,in the braking segment S2, the autonomous driving ECU 58 carries outbraking in order to automatically stop the own vehicle 12. In thedriving hand-over request segment S1 and the braking segment S2, whenthe occupant of the own vehicle 12 operates at least any of the steeringwheel, the accelerator pedal and the brake pedal of the own vehicle 12,the autonomous driving ECU 58 switches from the autonomous driving modeto the manual driving mode.

An example of the flow of display control processing that is executed bythe display control ECU 70 is shown in a flowchart in FIG. 9 . Thisdisplay control processing is executed due to the CPU 72 reading-out thedisplay control program 82 from the storage 76, and expanding andexecuting the program in the memory 74. This display control processingis executed during autonomous driving of the own vehicle 12 by theautonomous driving ECU 58.

In this display control processing, first, in step S1, by the functionof the information acquisition section 84, the CPU 72 judges whether ornot the autonomous driving ECU 58 is starting to cause the own vehicle12 to travel while merging. If this judgment is negative, the routinemoves on to step S2, and, if this judgement is affirmative, the routinemoves on to step S3.

In the case of moving on to step S2, by the function of the displaycontrol section 86, the CPU 72 displays the first-person one lanedisplay image G1 and the third-person multiple lane display image G2,which are usual images respectively, on the HUD 26 and the meter display24. When the processing of this step S2 is completed, the routinereturns to step S1.

In the case of moving on to step S3, by the function of the informationacquisition section 84, the CPU 72 acquires information of the peripheryof the own vehicle 12. Information of the first point, at which theattempt to merge in autonomous driving is aborted, also is included inthis information. This information is acquired by the informationacquisition section 84 before the own vehicle 12 arrives at the firstpoint P1. This step S3 corresponds to the “acquiring step” in thepresent disclosure. When the processing of step S3 is completed, theroutine moves on to next step S4.

In step S4, by the function of the display control section 86, the CPU72 displays the images G3, G4 for merging on the HUD 26 and the meterdisplay 24 respectively, and combines the image SV of the fixed segmentS, whose starting point is the first point P1, with the images G3, G4for merging, and displays the combined image. This display is carriedout before the own vehicle 12 arrives at the first point P1. This stepS4 corresponds to the “displaying step” of the present disclosure. Whenthe processing of step S4 is completed, the routine moves on to step S5.

In step S5, on the basis of the information acquired by the function ofthe information acquisition section 84, the CPU 72 judges whether or notthe own vehicle 12 has arrived at the first point P1. If this judgmentis negative, the routine returns to above-described step S4, and, ifthis judgment is affirmative, the routine moves on to next step S6.

In the case of moving on to step S6, by the function of the displaycontrol section 86, the CPU 72 displays the hands-on images G5, G6 onthe HUD 26 and the meter display 24 respectively. When the processing ofstep S6 is completed, the routine moves on to next step S7.

In the case of moving on to step S7, the CPU 72 judges whether or notthe own vehicle 12 has completed merging from the traveling lane intothe merging destination lane. If this judgment is negative, the routinereturns to step S6, and, if this judgment is affirmative, the routinereturns to step S1.

(Operation and Effects)

Operation and effects of the present embodiment are described next.

As described above, in the present embodiment, in a case in which theown vehicle 12 attempts merging from the traveling lane R4 into themerging destination lane R5 during autonomous driving, the informationacquisition section 84 acquires information of the first point, which iswhere this attempt will be aborted, before the own vehicle 12 arrives atthe first point P1. The display control section 86 displays theinformation of the first point P1, which was acquired by the informationacquisition section, on the HUD 26 and the meter display 24 before theown vehicle 12 arrives at the first point P1. Due thereto, the occupantof the own vehicle 12 can visually understand up to when the attempt tomerge by autonomous driving will be continued. As a result, the vehicleoccupant can easily understand in advance the necessity of interveningin the driving operation.

Further, in the present embodiment, an image, in which the image RV4 ofthe traveling lane R4 in which the own vehicle 12 is traveling and imagePV1 of the first point P1 are combined, is displayed on the HUD 26 andthe meter display 24. Due thereto, the occupant of the own vehicle 12can more easily visually understand up to when the attempt to merge byautonomous driving will continue.

In the present embodiment, the image SV of the fixed segment S, which isset on the traveling lane RV4 and whose starting point is the firstpoint P1, and the image RV4 of the traveling lane R4 are combined anddisplayed on the HUD 26 and the meter display 24. Due thereto, theoccupant of the own vehicle 12 can visually confirm the first point P1easily as compared with a case in which, for example, only the image PV1of the first point P1 is displayed on the HUD 26 and the meter display24.

In the present embodiment, the fixed segment S that is displayed on theHUD 26 and the meter display 24 includes the driving hand-over requestsegment S1 in which at least either of steering and acceleration of theown vehicle 12 is controlled by the autonomous driving ECU 58, and inwhich the occupant of the own vehicle 12 is urged to intervene in thedriving operation. Because this driving hand-over request segment S1 isdisplayed in advance on the HUD 26 and the meter display 24, forexample, it is easy for the occupant of the own vehicle 12 to make, inadvance, preparations to intervene in the driving operation.

Further, in the present embodiment, the fixed segment S that isdisplayed on the HUD 26 and the meter display 24 includes the brakingsegment S2 in which the own vehicle 12 is automatically stopped in acase in which the occupant of the own vehicle 12 does not intervene inthe driving operation. Due thereto, in a case in which the occupant ofthe own vehicle 12 does not intervene in the driving operation, theoccupant of the vehicle can know in advance of the point at whichbraking of the own vehicle 12 will start, the point at which automaticstoppage will occur, and the like.

In the present embodiment, the fixed segment S is displayed on the HUD26 and the meter display 24 as the belt-shaped image SV whose startingpoint is the first point P1. Due thereto, it is easy for the occupant ofthe own vehicle 12 to visually confirm the first point P1 as comparedwith a case in which, for example, the first point P1 is displayed as adot-shaped or a linear image.

Further, in the present embodiment, the image SV of the fixed segment Sis displayed in forms (colors) that differ in two stages that are thedriving hand-over request segment S1 and the braking segment S2, inaccordance with the deferment time until the own vehicle 12 isautomatically stopped in a case in which the occupant of the own vehicle12 does not intervene in the driving operation. Due thereto, it is easyfor the occupant of the own vehicle 12 to recognize the deferment timeuntil automatic stoppage.

In the present embodiment, the image SV of the fixed segment S isdisplayed in forms (colors) that differ in two stages that are thedriving hand-over request segment S1 and the braking segment S2, incorrespondence with the change in the control of the autonomous drivingthat is carried out in a case in which the occupant of the own vehicle12 does not intervene in the driving operation. Due thereto, in a casein which the occupant of the own vehicle 12 does not intervene in thedriving operation, it is easy for the occupant of the own vehicle 12 tounderstand in advance that control of the autonomous driving willchange.

In the present exemplary embodiment, in a case in which the own vehicle12 arrives at the first point P1 at which an attempt to merge inautonomous driving is aborted, the hands-on images G5, G6 for urging theoccupant of the own vehicle 12 to intervene in the driving operation aredisplayed on the HUD 26 and the meter display 24. Due thereto, it iseven easier for the occupant of the own vehicle 12 to recognize thenecessity of intervening in the driving operation.

In the present embodiment, in a case in which the own vehicle 12attempts merging in autonomous driving, information of the first pointP1 (here, the image PV1) is displayed so as to be superposed on thefront view that the occupant of the own vehicle 12 sees through thewindshield glass 18. Due thereto, the occupant of the own vehicle 12 canconfirm the first point P1 while looking at the front view through thewindshield glass 18.

Further, in the present embodiment, the image of the first point P1 isdisplayed also on the meter display 24 that is provided at theinstrument panel 14. Due thereto, the occupant of the own vehicle 12 canconfirm the first point P1 in the meter display 24, even in a situationin which it is difficult to see the image displayed on the HUD 26 due tothe effects of sunlight or the like for example.

Further, in the present embodiment, at the time when the own vehicle 12is traveling while merging, the third-person images G3, G4 for mergingare displayed on the HUD 26 and the meter display 24. In thesethird-person images G3, G4 for merging, the own vehicle 12 and theperiphery thereof are displayed as images that model a state in whichthe own vehicle 12 and the periphery thereof are seen from an obliquelyrear upper side of the own vehicle 12, and the image PV1 of the firstpoint P1 at which an attempt to merge in autonomous driving is abortedis displayed. Due thereto, the occupant of the own vehicle 12 can, whilelooking at an image of the own vehicle 12 from a bird's eye view,confirm up to when the attempt to merge in autonomous driving willcontinue.

Other embodiments of the present disclosure are described next. Notethat structures and operations that are basically similar to those ofthe first embodiment are denoted by the same reference numerals as inthe first embodiment, and description thereof is omitted.

Second Embodiment

An image for merging of the HUD 26 in the second embodiment is shown inFIG. 10A. An image for merging of the meter display 24 in the secondembodiment is shown in FIG. 10B. In this embodiment, in a case in whichthe own vehicle 12 attempts to merge from the traveling lane R4 into themerging destination lane R5 during autonomous driving, the informationof the first point P1 at which the attempt will be aborted is displayedin the HUD 26 and in the meter display 24 by bar graphs B. Right ends B3of the respective bar graphs B show the final point P3 of the travelinglane R4. Position B1 that indicates the first point P1, and position B2that indicates the second point P2, are set in the intermediate portionsof the respective bar graphs B. In the bar graphs B, as the own vehicle12 advances in the traveling lane R4 toward the final point P3 side, abar-like display extends from left end B0 toward the right end B3. Forexample, this bar-like display is displayed in white in the segment fromB0 to B1, and is displayed in yellow in the segment from B1 to B2, andis displayed in orange in the segment from B2 to B3. In the segment fromB0 to B1 that is displayed in white, the attempt to merge in autonomousdriving is continued.

In this embodiment, structures other than those described above aresimilar to those of the first embodiment. In this embodiment as well,the occupant of the own vehicle 12 can, by the bar graphs B, visuallycomprehend up to when the attempt to merge in autonomous driving willcontinue. Therefore, the vehicle occupant can easily understand inadvance the necessity of intervening in the driving operation.

Third Embodiment

An image for merging of the HUD 26 in the third embodiment is shown inFIG. 11A. An image for merging of the meter display 24 in the thirdembodiment is shown in FIG. 11B. In this embodiment, in a case in whichthe own vehicle 12 attempts to merge from the traveling lane R4 into themerging destination lane R5 during autonomous driving, the first pointP1 at which the attempt will be aborted, and the second point P2 that isthe starting point of the braking segment S2, are displayed on the HUD26 and the meter display 24 as linear images PV1, PV2.

In this embodiment, structures other than those described above aresimilar to those of the first embodiment. In this embodiment as well,the occupant of the own vehicle 12 can, by the linear image PV1,visually comprehend up to when the attempt to merge in autonomousdriving will continue. Therefore, the vehicle occupant can easilyunderstand in advance the necessity of intervening in the drivingoperation.

Although the present disclosure has been described above by illustrationof several embodiments, the present disclosure can, of course, beimplemented in various forms within a scope that does not depart fromthe gist thereof. For example, in the above-described embodiments, themeter display 24 is provided at the vehicle front side of the driver'sseat at the instrument panel 14, but the present disclosure is notlimited to this. The meter display 24 may be a center display that isprovided at the vehicle transverse direction central portion of theinstrument panel 14.

Further, although the above-described embodiments are structured suchthat the HUD 26, which projects images onto the windshield glass 18 thatis the windshield, is included in the display portion, the presentdisclosure is not limited to this. For example, the display portion maybe a portion that can project images onto a projection surface that isother than the windshield.

Note that any of various types of processors other than the CPU 72 mayexecute the display control processing that is executed by the CPU 72reading-in software (a program) in the above-described embodiments.Examples of processors in this case include PLDs (Programmable LogicDevices) whose circuit structure can be changed after production such asFPGAs (Field-Programmable Gate Arrays) and the like, and dedicatedelectrical circuits that are processors having circuit structures thatare designed for the sole purpose of executing specific processings suchas ASICs (Application Specific Integrated Circuits) and the like, andthe like. Further, the display processing may be executed by one ofthese various types of processors, or may be executed by a combinationof two or more of the same type or different types of processors (e.g.,plural FPGAs, or a combination of a CPU and an FPGA, or the like).Further, the hardware structures of these various types of processorsare, more concretely, electrical circuits that combine circuit elementssuch as semiconductor elements and the like.

Moreover, the above-described respective exemplary embodiments arestructured such that various data are stored in the non-volatile storage76 which is an HDD or an SSD or the like, but the present disclosure isnot limited to this. A recording medium such as, for example, a CD(Compact Disk), a DVD (Digital Versatile Disk), a USB (Universal SerialBus) memory, or the like may be the storage. In this case, the variousprograms and data and the like are stored on such a recording medium.

What is claimed is:
 1. An onboard display control device that isinstalled in a vehicle configured to enable autonomous driving, thedevice comprising: an information acquisition section that is configuredto, in a case in which the vehicle attempts to merge from a travelinglane into a merging destination lane during autonomous driving, acquireinformation regarding a point at which the attempt will be aborted,before the vehicle arrives at the point; and a display control sectionthat is configured to display a segment beyond the point at which themerging attempt will be aborted, before arrival at the point, as adriving hand-over request segment, at a display portion that is providedwithin a vehicle cabin of the vehicle.
 2. The onboard display controldevice of claim 1, wherein: the information acquisition section isconfigured to acquire information regarding the traveling lane, and onthe basis of the information acquired by the information acquisitionsection, the display control section displays, at the display portion,an image in which an image of the traveling lane and an image of thepoint are combined.
 3. The onboard display control device of claim 2,wherein the display control section displays, at the display portion, animage of a fixed segment that is established in the traveling lane andthat has the point as a starting point.
 4. The onboard display controldevice of claim 3, wherein the fixed segment includes the drivinghand-over request segment in which at least one of steering oracceleration of the vehicle is controlled by the vehicle, and in whichan occupant of the vehicle is urged to intervene in driving operation.5. The onboard display control device of claim 3, wherein the fixedsegment includes a braking segment in which the vehicle is automaticallystopped in a case in which an occupant of the vehicle does not intervenein driving operation.
 6. The onboard display control device of claim 3,wherein the display control section displays the fixed segment as abelt-shaped image at the display portion.
 7. The onboard display controldevice of claim 3, wherein the display control section displays, at thedisplay portion, an image of the fixed segment in forms that differ fora plurality of stages in accordance with a deferment time until thevehicle is stopped automatically in a case in which an occupant of thevehicle does not intervene in driving operation.
 8. The onboard displaycontrol device of claim 3, wherein the display control section displays,at the display portion, an image of the fixed segment in forms thatdiffer for a plurality of stages in correspondence with a change incontrol of the autonomous driving that is carried out in a case in whichan occupant of the vehicle does not intervene in driving operation. 9.The onboard display control device of claim 1, wherein, in a case inwhich the vehicle arrives at the point, the display control sectiondisplays, at the display portion, a driving hand-over request image forurging an occupant of the vehicle to intervene in driving operation. 10.The onboard display control device of claim 1, wherein the displayportion includes a head-up display that displays an image so as tooverlap a front view that an occupant of the vehicle sees through awindshield.
 11. The onboard display control device of claim 1, whereinthe display portion includes a meter display that is provided at aninstrument panel of the vehicle.
 12. The onboard display control deviceof claim 1, wherein the display control section displays the vehicle anda periphery thereof at the display portion as an image that models astate in which the vehicle and the periphery thereof are seen from anobliquely rear upper side of the vehicle.
 13. An onboard display devicethat is installed in a vehicle configured to enable autonomous driving,the device comprising: a display portion that is provided within avehicle cabin of the vehicle; and the onboard display control device ofany one of claim
 1. 14. A display control method that is executed by aprocessor that is installed in a vehicle configured to enable autonomousdriving, the method comprising: in a case in which the vehicle attemptsto merge from a traveling lane into a merging destination lane duringautonomous driving, acquiring information regarding a point at which theattempt will be aborted, before the vehicle arrives at the point; anddisplaying a segment beyond the point at which the merging attempt willbe aborted, before arrival at the point, as a driving hand-over requestsegment, at a display portion that is provided within a vehicle cabin ofthe vehicle.
 15. A non-transitory computer readable medium comprisingreadable code executable by one or more process installed in a vehicleconfigured to enable autonomous driving, the program comprising: in acase in which the vehicle attempts to merge from a traveling lane into amerging destination lane during autonomous driving, acquiringinformation regarding a point at which the attempt will be aborted,before the vehicle arrives at the point; and displaying a segment beyondthe point at which the merging attempt will be aborted, before arrivalat the point, as a driving hand-over request segment, at a displayportion that is provided within a vehicle cabin of the vehicle.
 16. Anonboard display control device that is installed in a vehicle configuredto enable automatic lane change, the device comprising: an informationacquisition section that is configured to, in a case in which thevehicle attempts to automatically change lanes from a traveling laneinto a destination lane during autonomous driving, acquire informationregarding a point at which the attempt will be aborted, before thevehicle arrives at the point; and a display control section that isconfigured to display the point at which the automatic lane changeattempt will be aborted, before arrival at the point, at a displayportion that is provided within a vehicle cabin of the vehicle.
 17. Adisplay control method that is executed by a processor that is installedin a vehicle configured to enable automatic lane change, the methodcomprising: in a case in which the vehicle attempts to automaticallychange lanes from a traveling lane into a destination lane duringautonomous driving, acquiring information regarding a point at which theattempt will be aborted, before the vehicle arrives at the point; anddisplaying the point at which the automatic lane change attempt will beaborted, before arrival at the point, at a display portion that isprovided within a vehicle cabin of the vehicle.
 18. A non-transitorycomputer readable medium comprising readable code executable by one ormore process installed in a vehicle configured to enable automatic lanechange, the program comprising: in a case in which the vehicle attemptsto automatically change lanes from a traveling lane into a destinationlane during autonomous driving, acquiring information regarding a pointat which the attempt will be aborted, before the vehicle arrives at thepoint; and displaying the point at which the automatic lane changeattempt will be aborted, before arrival at the point, at a displayportion that is provided within a vehicle cabin of the vehicle.